Dynamics of Mechanical Systems 2024/25

Summary

Lesson3 – Applying our first

program: structure and numerical
issues
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 Dynamics of Mechanical Systems 2024/25

Example: slider-crank (previous session) nonlinear position constraint equations

numerical methods used to solve them
convergence to a feasible solution

Slider-crank
from last lesson

The velocity equations are obtained by differentiating

the position constraint equations with respect to time,

The acceleration constraint equations are obtained by differentiating the velocity

constraint equations with respect to time,

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 Dynamics of Mechanical Systems 2024/25
The complete kinematic analysis of a multibody system corresponds to the solution of
the position, velocity and acceleration constraint equations for a selected time period.
A particular time-step is selected and the kinematic equations are successively solved
for each time instant t.
SliderCrankSimple.m → script to generate the SliderCrankSimple.mat
Kinematic
Analysis First_Kinematic
Program: _Analysis.m
- Structure
Position_Analysis.m Velocity_Analysis.m

First_Kinematic
_Analysis.m

Acceleration
_Analysis.m

Slider_Crank_Simple.m → script to generate the phi, Jac, niu, gamma.

The position analysis require a nonlinear solver (e.g. Newton_Raphson_Method.m).
The velocity and acceleration analysis require a linear solver (e.g. Crout, \)
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 Dynamics of Mechanical Systems 2024/25
The complete kinematic analysis of a multibody system corresponds to the solution of
the position, velocity and acceleration constraint equations for a selected time period.
It uses a given time-step and the kinematic equations are successively solved for
each time instant in the selected time period.
SliderCrank
example

driver at Crank

Did you get the same plots?

See pp.28 Chapter1 (Ambrósio)

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 Dynamics of Mechanical Systems 2024/25
The complete kinematic analysis of the multibody system

SliderCrank
example

driver at Crank
Did you get the same plots?
See pp.28 Chapter1 (Ambrósio)

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 Dynamics of Mechanical Systems 2024/25
Slider Crank solution Data:

l1 = 0.3m l2 = 0.5m 1 = + 2 t
4
 7
10 =  20 = l3 = 0.6m
4 4
Slider Crank tstart = 0s tstep = 0.01 tend = 2 s
from last lesson  = 10−7 MaxIter = 12

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 Dynamics of Mechanical Systems 2024/25

Example: slider-crank (now driven by slider) nonlinear position constraint equations

only change in the driver constraint
l3 = l30 (1+0.25 cos(w t))
It is exactly the same mechanism
Slider-crank

Change to be
driven by the
slider
l3 – l30 (1+0.25 cos(w t))
The velocity equations are obtained by differentiating
the position constraint equations with respect to time,

0 0 1 – l30 w (0.25 sin(w t))

The acceleration constraint equations are obtained by differentiating the velocity
constraint equations with respect to time,

0 0 1 – l30 w2 (0.25 sin(w t))

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 Dynamics of Mechanical Systems 2024/25

Example: slider-crank (now driven by slider) nonlinear position constraint equations

only change in the driver constraint
l3 = l30 (1+0.25 cos(w t))
It is exactly the same mechanism
Slider-crank

Change to be
driven by the
slider
l3 – l30 (1+0.25 cos(w t))
SliderCrankSimple.m → script to generate the SliderCrankSimple.mat
clear all %... Time analysis parameters
%... Model & simulation scenario filename Time.start = 0.0;
filename = 'SliderCrankSimple2.mat'; Time.end = 2.0;
%... Model dimensions Time.step = 0.01;
Model.l1 = 0.3; %... Analysis parameters
Model.l2 = 0.5; Parameter.NLTolerance = 0.0000001;
%... Driver characteristics Parameter.NLMaxIter = 12;
Model.l3init = 0.5; %... Initial positions (estimate)
Model.angvelocity = 2*pi; theta1 = 45*(pi/180);
Model.NCoordinates = 3; theta2 = 330*(pi/180);
%... Function for equations evaluations l3 = 0.7;
Model.Function = @Slider_Crank_Simple2; %... Initial coordinates vector
q0 = [theta1; theta2; l3];
%... Save the data in 'mat' file
save(filename);
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 Dynamics of Mechanical Systems 2024/25

l3 = l30 (1+0.25 cos(w t))

Slider-crank

Change to be
driven by the
slider First_Kinematic_Analysis.m

clear all
close all %
clc load(filename);
% CPUStart = cputime;
% First kinematic analysis program %
% %% ... Perform the kinematic analysis
% (…) [t, q, qd, qdd] = First_Kinematic_Analysis(q0);
%% %(…)
%... Access global memory
global Model Parameter Time
%
%... Read (load) the model input data and analysis profile
%filename = 'SliderCrankSimple.mat';
filename = 'SliderCrankSimple2.mat'; % driven by slider
%filename = 'FourBarLinkageSimple.mat'; % Four-Bar-Linkage Simple
%filename = 'Four_Leafed_Curve.mat';

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 Dynamics of Mechanical Systems 2024/25

l3 = l30 (1+0.25 cos(w t))

Slider_Crank_Simple2.m
Slider-crank
% …. %%
Change to be %... Transfer coordinates from global to local storage %... Evaluate vector with r.h.s. of velocity equations
driven by the o1 = q(1); o2 = q(2); l3 = q(3); if Flag.Velocity == 1
slider l1 = Model.l1; l2 = Model.l2; niu = [0.0;
%... Evaluate the position constraint vector Phi(q,t) 0.0;
if Flag.Position == 1 -0.25*Model.l3init*
phi = [ l1*cos(o1)+l2*cos(o2)-l3; sin(Model.angvelocity*time)*Model.angvelocity];
l1*sin(o1)+l2*sin(o2); end
l3-(Model.l3init+ %%
0.25*Model.l3init*cos(Model.angvelocity*time))]; %... Evaluate vector with r.h.s. of acceleration equations
end if Flag.Acceleration == 1
%... Evaluate the constraints Jacobian matrix Phi(q,t) o1d = qd(1); o2d = qd(2); l3d = qd(3);
if Flag.Jacobian == 1 gamma = [l1*cos(o1)*o1d^2+l2*cos(o2)*o2d^2;
Jac = [-l1*sin(o1) -l2*sin(o2) -1; l1*sin(o1)*o1d^2+l2*sin(o2)*o2d^2;
l1*cos(o1) l2*cos(o2) 0; -0.25*Model.l3init*
0 0 1]; cos(Model.angvelocity*time)*Model.angvelocity^2];
end end
%... Finalize function Slider_Crank_Simple
end

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 Dynamics of Mechanical Systems 2024/25
To drive by slider you need to change:
SliderCrankSimple2.m, First_Kinematic_Analysis.m and Slider_Crank_Simple2.m
All others kept unchanged.

SliderCrankSimple2.m → script to generate the SliderCrankSimple.mat

Kinematic
Analysis First_Kinematic
Program _Analysis.m
Structure
Position_Analysis.m Velocity_Analysis.m

First_Kinematic
_Analysis.m

Acceleration
_Analysis.m

Slider_Crank_Simple2.m → script to generate the phi, Jac, niu, gamma.

The position analysis require a nonlinear solver (e.g. Newton_Raphson_Method.m).
The velocity and acceleration analysis require a linear solver (e.g. Crout, \)
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 Dynamics of Mechanical Systems 2024/25
The complete kinematic analysis of a multibody system corresponds to the solution of

l3 = l30 (1+0.25 cos(w t))

SliderCrank
example

driver at Crank
Did you get the same plots?

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 Dynamics of Mechanical Systems 2024/25
1.9 PHYSICAL MEANING OF SELECTED NUMERICAL ISSUES
Numerical problems may occur because either:
- the model is not properly defined, or
1.9 PHYSICAL - the model is being analyzed outside its range of motion or
MEANING OF - due to limitations of the numerical methods.
SELECTED
NUMERICAL One of the common errors with the nonlinear equations solver is the lack of convergence in the
ISSUES maximum allowed number of iterations.

1. Unfeasible It may simply happen that the mechanical system cannot achieve a particular configuration required
solutions by its driver at a particular time.
The smallest gap is still a solution of
the optimal problem, although it is
not a physically feasible solution (not
a ‘zero’ of the nonlinear equations)

Observing the sequence of configurations, it is clear that when the crank angle is in between the
interrupted line in Figure 1.62(a) where theta is unfeasible, i.e. it is impossible to connect the
coupler to the follower link.
In an optimization problem configurations such as the one having a gap in Figure 1.62(a) are still
accepted as a valid solution.
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 Dynamics of Mechanical Systems 2024/25
1.9 PHYSICAL MEANING OF SELECTED NUMERICAL ISSUES
The solution of nonlinear equations may fail due to a null determinant of the Jacobian matrix. The
most common reason is that some position constraint equations become redundant, leading to a
1.9 PHYSICAL rank deficient system.
MEANING OF
SELECTED The two independent vector loops that span all links in the mechanical system result in 4 algebraic
NUMERICAL equations. The four angles of the moving links are the 4 coordinates of the system, which would
ISSUES mean that no dof exist.

2. Rank-deficient
Jacobian Matrix

But the system still has one dof, which implies that one of the algebraic constraints is redundant
and, consequently, that the Jacobian matrix is rank-deficient.

In a complex multibody system, the identification of potential redundant constraints may be less
obvious and also the redundancy may occur only for particular configurations and not for others.
A rank-deficient Jacobian matrix →failure of the solution of the position constraint equations by
numerical methods that require the Jacobian matrix of the constraint equations

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 Dynamics of Mechanical Systems 2024/25
1.9 PHYSICAL MEANING OF SELECTED NUMERICAL ISSUES
The solution of the nonlinear equations is iterative. For a particular time step of the driver, several
iterations are required to obtain the new configuration of the mechanical system.
1.9 PHYSICAL
MEANING OF
SELECTED
NUMERICAL
ISSUES

2. Rank-deficient
Jacobian Matrix
The position constraint equations are nonlinear equation that may have multiple solutions.
At a particular instant, it is expected to converge to the closest configuration that is being
attempted. Nevertheless, this is not always the case and, in more complex mechanisms, an
alternative configuration may be obtained.

A case in which, starting from the same configuration, an increment of the crank angle may lead to
two completely different configurations of the mechanical system, but both fulfilling the position
constraint equations (during the iterative process of the nonlinear equation solver, only one of them
is identified).
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 Dynamics of Mechanical Systems 2024/25
1.9 PHYSICAL MEANING OF SELECTED NUMERICAL ISSUES

1.9 PHYSICAL • Other physical configurations may also lead to rank-deficient or ill-conditioned Jacobian matrices
MEANING OF even when position constraint equations are not redundant.
SELECTED
NUMERICAL • When the slope of the equation is null, it is the equivalent of having the Jacobian matrix of the
ISSUES system of nonlinear equations with null determinant and the complete solution process fails.
The error is reported as a rank-deficient Jacobian matrix.
3. Rank-deficient
or ill-conditioned
Jacobian
matrices

In simple mechanisms it is, generally, rather obvious the physical reasons for the failure of the
numerical methods. In more complex mechanical systems may not be simple.

Some of the problems may be overcome by using different solution methods.

Note that solutions of kinematic problems should always be closely monitored, at least to monitor
that among the possible solutions the one being computed is the one required.

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Example: 1.8.1 Four-bar Linkage Mechanism If you have time, implement this one.

Coordinates
Four-bar
Linkage The position constraint equations are:
Mechanism
𝑙1 cos 𝜃1 + 𝑙2 cos 𝜃2 − 𝑙3 cos 𝜃3 + 𝑎
𝚽 𝐪, 𝑡 = 𝑙1 sin 𝜃1 + 𝑙2 sin 𝜃2 − 𝑙3 sin 𝜃3 + 𝑏 = 𝟎
𝜃1 − 𝜃10 + 𝜔𝑡

The velocity equations are given by:

The rhs vector of the acceleration equations are given by:

𝑙1 cos 𝜃1 𝜃ሶ12 + 𝑙2 cos 𝜃2 𝜃ሶ22 − 𝑙3 cos 𝜃3 𝜃ሶ32

𝛄 = 𝑙1 sin 𝜃1 𝜃ሶ12 + 𝑙2 sin 𝜃2 𝜃ሶ22 − 𝑙3 sin 𝜃3 𝜃ሶ 32
0

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Example: 1.8.1 Four-bar Linkage Mechanism If you have time, implement this one.

Four-bar %... Transfer coordinates from global to local storage

Linkage % o1 = q(1); o2 = q(2); l3 = q(3);
Mechanism % l1 = Model.l1; l2 = Model.l2;
a = Model.a; b = Model.b;
o1 = q(1); o2 = q(2); o3 = q(3);
l1 = Model.l1; l2 = Model.l2; l3 = Model.l3;
%%
%... Evaluate the position constraint vector Phi(q,t)
if Flag.Position == 1
phi = [ l1*cos(o1)+l2*cos(o2)-l3*cos(o3)+a;
l1*sin(o1)+l2*sin(o2)-l3*sin(o3)+b;
o1-(Model.anginit+Model.angvelocity*time)];
end

𝑙1 cos 𝜃1 + 𝑙2 cos 𝜃2 − 𝑙3 cos 𝜃3 + 𝑎

𝚽 𝐪, 𝑡 = 𝑙1 sin 𝜃1 + 𝑙2 sin 𝜃2 − 𝑙3 sin 𝜃3 + 𝑏 = 𝟎
𝜃1 − 𝜃10 + 𝜔𝑡

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Example: 1.8.1 Four-bar Linkage Mechanism

Four-bar
Linkage
Mechanism

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Example: 1.8.2 Four Leaf Mechanism

Vector loop closures

θ2
Four Leaf
Link CB has fixed length
Mechanism

position constraint equations Coordinates

Velocity equations

notice
2 = 1 +  / 2 and 2 = 1

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Example: 1.8.2 Four Leaf Mechanism
coordinates
position constraint
equations
θ2
Four Leaf
Mechanism

velocity equations

acceleration equations Φ ( q, t ) q = 

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Six Bar Mechanism
The six-bar mechanism shown is operated by
rotating the coupler link BCE. The base four-bar
mechanism is made of the follower links AB and
CDG, connected to the coupler BCE and having a
Six
BarMechanism rocker motion. Links EF and FG, are pinned to the
coupler BCE and to the follower CDG, respectively.
The operation of the six-bar mechanism results in
curves described by points E and F whose
identification is the purpose of the problem.
Dimensions: lAB = 0.4 (all others obtained by
measuring the drawing and scaling)

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Six Bar Mechanism
Identify vector loops closure

Six
BarMechanism

Geometric relations

6 = 1 + 270º
7 = 5 − 25º

l AB + lBC + lCG + lGD − a = 0

lCE + lEF + lFG − lCG = 0
Vector coordinates
qT = 1 5 
T
2 3 4

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Six Bar Mechanism

XY decomposition
l AB cos 2 + lBC cos 6 + lCG cos 5 + lGD cos 7 − a = 0
l AB sin 2 + lBC sin 6 + lCG sin 5 + lGD sin 7 = 0
lCE cos 1 + lEF cos 3 + lFG cos 4 − lCG cos 5 = 0
Six
BarMechanism lCE sin 1 + lEF sin 3 + lFG sin 4 − lCG sin 5 = 0

l AB + lBC + lCG + lGD − a = 0

lCE + lEF + lFG − lCG = 0
Vector coordinates
qT = 1 5 
T
2 3 4

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Six Bar Mechanism Position Equations
l AB cos 2 + lBC cos 6 + lCG cos 5 + lGD cos 7 − a 
 l sin  + l sin  + l sin  + l sin  
 AB 2 BC 6 CG 5 GD 7 
 l cos  + l cos  + l cos  − l cos  
 =  CE 1 EF 3 FG 4 CG 5 
 lCE sin 1 + lEF sin 3 + lFG sin 4 − lCG sin 5 
 
Six
BarMechanism

 (
1 − 10 +  t ) 

Velocity Equations
−l AB sin 2 2 − lBC sin 6 6 − lCG sin 5 5 − lGD sin 7 7  0 
   
 l AB cos 2 2 + lBC cos 6 6 + lCG cos 5 5 + lGD cos 7 7  0 
   
 =  −lCE sin 1 1 − lEF sin 3 3 − lFG sin 4 4 + lCG sin 5 5  = 0 
 l cos   + l cos   + l cos   − l cos    0 
 CE 1 1 EF 3 3 FG 4 4 CG 5 5   
 1 −   0 

l AB + lBC + lCG + lGD − a = 0

lCE + lEF + lFG − lCG = 0
Vector coordinates
qT = 1 5 
T
2 3 4

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Six Bar Mechanism Position Equations
l AB cos 2 + lBC cos 6 + lCG cos 5 + lGD cos 7 − a 
 l sin  + l sin  + l sin  + l sin  
 AB 2 BC 6 CG 5 GD 7 
 l cos  + l cos  + l cos  − l cos  
 =  CE 1 EF 3 FG 4 CG 5 
 lCE sin 1 + lEF sin 3 + lFG sin 4 − lCG sin 5 
 
Six 
 (
1 − 10 +  t ) 

BarMechanism
Velocity Equations
Φ = 0
Vector coordinates −l AB sin 2 2 − lBC sin 6 6 − lCG sin 5 5 − lGD sin 7 7  0 
   
qT = 1 2 3 4 5 
T
 l AB cos 2 2 + lBC cos 6 6 + lCG cos 5 5 + lGD cos 7 7  0 
   
Φ =  −lCE sin 1 1 − lEF sin 3 3 − lFG sin 4 4 + lCG sin 5 5  = 0 
 l cos   + l cos   + l cos   − l cos    0 
 CE 1 1 EF 3 3 FG 4 4 CG 5 5   
 1 −   0 

Φ = 0  Φq q = ν
Jacobian matrix
 −lBC sin 6 −l AB sin 2 0 0 − ( lGD sin 7 + lCG sin 5 )  0 

 lBC cos 6 l AB cos 2 0 0 ( lCG cos 5 + lGD cos 7 )  0 
 
Φq =  −lCE sin 1 0 −lEF sin 3 −lFG sin 4 lCG sin 5  ν = 0 
  0 
 lCE cos 1 0 lEF cos 3 lFG cos 4 −lCG cos 5   
  
 1 0 0 0 0 

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Six Bar Mechanism Position Equations
l AB cos 2 + lBC cos 6 + lCG cos 5 + lGD cos 7 − a 
 l sin  + l sin  + l sin  + l sin  
 AB 2 BC 6 CG 5 GD 7 
 l cos  + l cos  + l cos  − l cos  
Φ =  CE 1 EF 3 FG 4 CG 5 
 lCE sin 1 + lEF sin 3 + lFG sin 4 − lCG sin 5 
 
Six 
 (
1 − 10 +  t ) 

BarMechanism
Velocity Equations

Vector coordinates −l AB sin 2 2 − lBC sin 6 6 − lCG sin 5 5 − lGD sin 7 7  0 
   
qT = 1 2 3 4 5 
T
 l AB cos 2 2 + lBC cos 6 6 + lCG cos 5 5 + lGD cos 7 7  0 
   
Φ =  −lCE sin 1 1 − lEF sin 3 3 − lFG sin 4 4 + lCG sin 5 5  = 0 
 l cos   + l cos   + l cos   − l cos    0 
 CE 1 1 EF 3 3 FG 4 4 CG 5 5   
 1 −   0 

l AB cos 2 2 2 + lBC cos 6 12 + lCG cos 5 5 2 + lGD cos 7 5 2 

Acceleration Equations  
 AB
l sin   2
+ l sin   2
+ l sin   2
+ l sin   2
7 5 
Φ = 0  Φq q = γ
2 2 BC 6 1 CG 5 5 GD
 
γ =  lCE cos 1 12 + lEF cos 3 32 + lFG cos 4 4 2 − lCG cos 5 5 2 
 2 
 lCE sin 1 1 + lEF sin 3 3 + lFG sin 4 4 − lCG sin 5 5 
2 2 2

 
 0 

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 Dynamics of Mechanical Systems 2024/25
Six Bar Mechanism  2.751 
Model Parameters  9.73 l AB 
 
 3.184 l 
lBC   9.73
AB 

 10   20º   l   7.247 

 0   CE   l AB

2   90º  lEF   9.73
Six  0      7.277 
 3  = 345º  lFG  =  l AB 
BarMechanism  0   225º  l   9.73 
 4     CG   4.557 
 0   290º  lGD   l AB 
 5     9.73 
Vector coordinates  a   4.529 
 9.73 l AB 
qT = 1 5   
T
2 3 4
 6.520 l 
 9.73 AB 

Mechanical Engineering Department – Instituto Superior Técnico #28

 Dynamics of Mechanical Systems 2024/25
Six Bar Mechanism

Six
BarMechanism

Mechanical Engineering Department – Instituto Superior Técnico #29

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism

SLIDER-CRANK
BLADE
MECHANISM OF
A TRIMMING
MACHINE

SLIDER-CRANK BLADE MECHANISM OF A TRIMMING MACHINE

Holder 2 of blade a is connected by turning pairs E, F and G to links 3 and 4
and to slider 5. Link 3 turns about fixed axis H. Slider 5 moves along fixed
guides b-b. Link 4 is connected by turning pair K to rocker arm 6 of four-bar
linkage ABCD. When crank 1 rotates about fixed axis A, holder 2 with blade
a has a complex motion which accomplishes the cutting operation.

Mechanical Engineering Department – Instituto Superior Técnico #30

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism

SLIDER-CRANK
BLADE Vector loop-closure
MECHANISM OF
A TRIMMING l AB + lBC + lCD + lDA = 0 ( yellow)
MACHINE
lEF + lFK + lKD + lDH + lHE = 0 ( green)
lGM + lMA + l AH + lHE + lEF + lFG = 0 (blue)

Geometric relations
8 = 43.2 + 180 = 223.2
Vector coordinates 9 = 270.9
10 = 63.7
qT = 1 lGM 
T
2 3 4 5 7
11 = 155.8 + 180 = 335.8
13 = 110 + 180 = 290
14 = 4 − 2.6

3 = 6 + 40º  6 = 3 − 40º

Mechanical Engineering Department – Instituto Superior Técnico #31

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism
Loop 1 Loop 2

lFK
lKD
SLIDER-CRANK 3 lCD 5
6
BLADE
MECHANISM OF
13 = 290
A TRIMMING lBC 9 = 270.9 4 lDH
MACHINE lEF
7
2 lDA lHE

1
l AB

Loop 3 14 =  4 − 2.6

 4 lEF
lMA 7
M
lEH
lMA
l AH
10 = 63.7
11 = 335.8

Mechanical Engineering Department – Instituto Superior Técnico #32

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism Vector loop-closure

l AB + lBC + lCD + lDA = 0 ( yellow)

lEF + lFK + lKD + lDH + lHE = 0 ( green)
SLIDER-CRANK lGM + lMA + l AH + lHE + lEF + lFG = 0 (blue)
BLADE
MECHANISM OF XY decomposition
A TRIMMING
l AB cos 1 + lBC cos 2 + lCD cos 3 + lDA cos 9 = 0
MACHINE
l AB sin 1 + lBC sin 2 + lCD sin 3 + lDA sin 9 = 0
lEF cos 4 + lFK cos 5 + lKD cos 6 + lDH cos 13 + lHE cos 7 = 0
lEF sin 4 + lFK sin 5 + lKD sin 6 + lDH sin 13 + lHE sin 7 = 0
lGM cos 8 + lMA cos 11 + l AH cos 10 + lHE cos 7 + lEF cos 4 + lFG cos 14 = 0
lGM sin 8 + lMA sin 11 + l AH sin 10 + lHE sin 7 + lEF sin 4 + lFG sin 14 = 0

Mechanical Engineering Department – Instituto Superior Técnico #33

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism
Position Equations

l cos  + l cos  + l cos  + l cos  

 AB 1 BC 2 CD 3 DA 9 
l AB sin 1 + lBC sin 2 + lCD sin 3 + lDA sin 9 
SLIDER-CRANK  
BLADE lEF cos 4 + lFK cos 5 + lKD cos 6 + lDH cos 13 + lHE cos 7 
 
MECHANISM OF  = lEF sin 4 + lFK sin 5 + lKD sin 6 + lDH sin 13 + lHE sin 7 
l cos  + l cos  + l cos  + l cos  + l cos  + l cos  
A TRIMMING  GM 8 MA 11 AH 10 HE 7 EF 4 FG 14 

MACHINE lGM sin 8 + lMA sin 11 + l AH sin 10 + lHE sin 7 + lEF sin 4 + lFG sin 14 
 
(
1 − 1 +  t
0
) 

 
l AB cos 1 + lBC cos 2 + lCD cos 3 
l AB sin 1 + lBC sin 2 + lCD sin 5 + lDA 
 
lEF cos 4 + lFK cos 5 + lKD cos ( 3 − 40 ) + lDH cos (110 ) + lHE cos 7 
 
 = lEF sin 4 + lFK sin 5 + lKD sin ( 3 − 40 ) + lDH sin (110 ) + lHE sin 7 
 
lGM cos ( 223.2 ) + lMA cos ( 335.8 ) + l AH cos ( 63.7 ) + lHE cos 7 + lEF cos 4 + lFG cos ( 4 − 2.6 ) 
l sin ( 223.2 ) + l sin ( 335.8 ) + l sin ( 63.7 ) + l sin  + l sin  + l sin (  − 2.6 ) 
 GM MA AH HE 7 EF 4 FG 4

 1 (
 −  0 +  t
1 ) 


Mechanical Engineering Department – Instituto Superior Técnico #34

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism

SLIDER-CRANK
BLADE
MECHANISM OF
A TRIMMING
MACHINE

Velocity Equations

−l sin   − l sin   − l sin   

 AB 1 1 BC 2 2 CD 3 3
 0 
l AB cos 1 1 + lBC cos 2 2 + lCD cos 3 3  0 
   
−lEF sin 4 4 − lFK sin 5 5 − lKD sin ( 3 − 40 ) 3 − lHE sin 7 7  0 
   
 = lEF cos 4 4 + lFK cos 5 5 + lKD cos ( 3 − 40 ) 3 + lHE cos 7 7  = 0 
  0 
lGM cos ( 223.2 ) − lHE sin 7 7 − lEF sin 4 + lFG sin ( 4 − 2.6 )  4   
  0 
lGM sin ( 223.2 ) + lHE cos 7 7 + lEF cos 4 + lFG cos ( 4 − 2.6 )  4   
  0 
 1 −  

Mechanical Engineering Department – Instituto Superior Técnico #35

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism

SLIDER-CRANK
BLADE
MECHANISM OF
A TRIMMING
MACHINE
Jacobian matrix

 −l AB sin 1 −lBC sin 2 −lCD sin 3 0 0 0 0 

 l cos  lBC cos 2 lCD cos 3 0 0 0 0 
 AB 1 
 0 0 −lKD sin ( 3 − 40 ) −lEF sin 4 −lFK sin 5 −lHE sin 7 0 
 
q =  0 0 lKD cos ( 3 − 40 ) lEF cos 4 lFK cos 5 lHE cos 7 0 
 0 0 0 − lEF sin 4 + lFG sin ( 4 − 2.6 )  0 −lHE sin 7 cos ( 223.2 ) 
 
 0 0 0 lEF cos 4 + lFG cos ( 4 − 2.6 )  0 lHE cos 7 sin ( 223.2 ) 
 
 1 0 0 0 0 0 0 
0 
0 
 
0 
 
 = 0 
0 
 
0 
 
 

Mechanical Engineering Department – Instituto Superior Técnico #36

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism Acceleration Equations
 = 0
 l AB cos 1 12 + lBC cos 2 2 2 + lCD cos 3 32 
 
 l AB sin  
1 1
2
+ l BC sin  
2 2
2
+ lCD sin  
3 3
2

SLIDER-CRANK  2
lEF cos 4 4 + lFK cos 5 5 + lKD cos ( 3 − 40 ) 3 + lHE cos 7 7 
2 2 2
BLADE
 
MECHANISM OF  =  lEF sin 4 4 2 + lFK sin 5 5 2 + lKD sin ( 3 − 40 ) 32 + lHE sin 7 7 2 
A TRIMMING  
 lHE cos 7 7 2 + lEF cos 4 + lFG cos ( 4 − 2.6 )  4 2 
MACHINE
 
 lHE sin 7 7 + lEF sin 4 + lFG sin ( 4 − 2.6 )  4
2 2

 
 0 

Model Parameters
 l AB   8.7 
l   
 BC   88.58 
 10   lCD   18.58 
 0   137.8º     
 2   97.4º   lDA   85.12 
 0     lEF   39.33 
 3  152.6º +180    
 0    lFK  55.20 
 4  =  177.2º   = 
 0   53.3º  lKD  36.32 
5    lDH  53.41 
 0   125.2     
 7    lHE  45.71 
lGM 0   30.9  l  143.44 
 MA   
l AH  39.11 
   60.26 
 lFG   

Mechanical Engineering Department – Instituto Superior Técnico #37

 Dynamics of Mechanical Systems 2024/25
Blade Mechanism Plots

SLIDER-CRANK
BLADE
MECHANISM OF
A TRIMMING
MACHINE

Mechanical Engineering Department – Instituto Superior Técnico #38

 Dynamics of Mechanical Systems 2024/25
HW1 – Mec #1
coordinates
position constraint equations

velocity equations

HW1 Mech #1 acceleration equations

The lengths of the elements in the mechanism follow the relations AB=CB=BM=1; CE=1.11;
MD=0.403; FD=0.12; and CF=2.05.
Point M of rod 2 of the four-bar EABC describes curve a-a, partially close to an arc of a circle
(thick solid line in the drawing) with radius DM centered at point D. At the time point M goes
over a-a, element 4 (manufactured as a wheel) stays quasi-static. Points F, D and M are collinear
on one of the extreme positions. From this position, the wheel 4 can rotate fast on the
clockwise or counterclockwise directions. So, when the crank makes one complete turn, the
wheel 4 can make a large turn in the same direction with one stop, or one turn in the opposite
direction without stopping.
Required: Trace the trajectory of point M

Mechanical Engineering Department – Instituto Superior Técnico #42

 Dynamics of Mechanical Systems 2024/25
HW1 – Mec #2
coordinates
position constraint equations

velocity equations

HW1 Mech #2 acceleration equations

The lengths of the elements in the four-bar mechanism ACBE follow the relations
CB=BE=BD=2.5 AC; AE=2 AC.
When element 1 rotates around fixed point A, point D of element 2 describes the path q-q.
When point C follows the arc a-d-b, point D runs on segment a1 – d1 – b1, close to a straight
line.
Required: Trace the trajectory of point D

Mechanical Engineering Department – Instituto Superior Técnico #43

 Dynamics of Mechanical Systems 2024/25
HW1 – Mec #3
coordinates
position constraint equations

velocity equations

HW1 Mech #3 acceleration equations

The lengths of the elements in the four-bar mechanism ABCD follow the relations
BC=DC=CE=2.17 AB; AD=2.83 AB.
When point B of element 1, which turns around fixed point A, passes over the arc abc, point E
of element 2 describes path q-q, where segments a1b1 and b1c1 are close to straight lines p-p
and t-t, perpendicular to each other.
Required: Trace the trajectory of point D

Mechanical Engineering Department – Instituto Superior Técnico #44

 Dynamics of Mechanical Systems 2024/25
HW1 – Mec #4
coordinates
position constraint equations

velocity equations

HW1 Mech #4 acceleration equations

The lengths of the elements in the four-bar mechanism ABCD follow the relations
BC=DC=CM=3.12 AB; AD=2.94 AB and β=120°.
When element 1 turns around fixed point A, point M of element 2 describes a path q-q which is
close to a circle of radius R1 or R0, where ΔR= R0 - R1 is a small quantity.
Required: Trace the trajectory of point M

Mechanical Engineering Department – Instituto Superior Técnico #45